相关论文: Desired Model Compensation based Position Constrai…

In this work, we consider the problem of event-triggered implementation of control laws designed for the local stabilization of nonlinear systems with center manifolds. We propose event-triggering conditions which are derived from a local…

Many robotic tasks, such as human-robot interactions or the handling of fragile objects, require tight control and limitation of appearing forces and moments alongside sensible motion control to achieve safe yet high-performance operation.…

This paper addresses the problem of position- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in a $3$D workspace with obstacles. More specifically, we design a decentralized control protocol…

Human body motions can be captured as a high-dimensional continuous signal using motion sensor technologies. The resulting data can be surprisingly rich in information, even when captured from persons with limited mobility. In this work, we…

This paper proposes an adaptive tracking control with prescribed performance function for distributive cooperative control of highly nonlinear multi-agent systems. The use of such approach confines the tracking error within a large…

A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…

Obtaining prescribed accuracy bounds in super-twisting sliding mode control loops often falls short in terms of the applicability of the controller in high-performance systems. This is due to the fact that the selection of the controller…

The problem of self-tuning control of cooperative manipulators forming a closed kinematic chain in the presence of an inaccurate kinematics model is addressed using adaptive machine learning. The kinematic parameters pertaining to the…

Given the cost and critical functions of satellite constellations, ensuring mission longevity and safe decommissioning is essential for space sustainability. This article presents a Model Predictive Control for spacecraft trajectory and…

This paper presents a novel concept to support physically impaired humans in daily object manipulation tasks with a robot. Given a user's manipulation sequence, we propose a predictive model that uniquely casts the user's sequential…

Modern applications of robotics typically involve a robot control system with an inner PI (proportional-integral) or PID (proportional-integral-derivative) control loop and an outer user-specified control loop. The existing outer loop…

Recently it has been reported that range-measurement inconsistency, or equivalently mismatches in prescribed inter-agent distances, may prevent the popular gradient controllers from guiding rigid formations of mobile agents to converge to…

In this paper, we propose a model predictive control based operation strategy that allows for power exchange between interconnected microgrids. Particularly, the approach ensures that each microgrid benefits from power exchange with others.…

The development of control techniques to maintain vehicle stability under possible loss-of-control scenarios is essential to the safe deployment of autonomous ground vehicles in public scenarios. In this paper, we propose a tube-based…

Continuum robots have gained widespread popularity due to their inherent compliance and flexibility, particularly their adjustable levels of stiffness for various application scenarios. Despite efforts to dynamic modeling and control…

This paper proposes a control solution to achieve collision-free platooning control of input-constrained mobile robots. The platooning policy is based on a leader-follower approach where the leader tracks a reference trajectory while…

This paper proposes a new robust trajectory tracking error-based control approach for unmanned ground vehicles. A trajectory tracking error-based model is used to design a linear model predictive controller and its control action is…

This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a…

The paper presents a method to stabilize dynamic gait for a legged robot with embodied compliance. Our approach introduces a unified description for rigid and compliant bodies to approximate their deformation and a formulation for…

This paper reports on a new error-state Model Predictive Control (MPC) approach to connected matrix Lie groups for robot control. The linearized tracking error dynamics and the linearized equations of motion are derived in the Lie algebra.…